Autonomous Driving Technologies Autonomous Driving

Transcription

Autonomous Driving Technologies
Autonomous Driving Technologies for Advanced Driver Assist System
y
Toyota Motor Corporation
Toyota Motor Corporation
Advanced Vehicle Control System Development Div.
Hiroyuki KANEMITSU
Contents
1. Definition of automated driving.
2. Effect of automated driving.
3. TOYOTA Automated Highway Driving Assist.
4. TOYOTA autonomous vehicle and developing philosophy.
5. JAPAN Auto Pilot System.
2013/10/21
TOYOTA MOTOR COPORATION
2
Definition of automated driving
Driver in the loop
Driver in the loop
Driver out of the loop
Driver must drive , watch system and intervene as necessary
Driver is unnecessary
Full self‐driving car
Platooning on specific road
Automated
ratio
Continuous
Operation
LKA : Lane Keep Assist
ACC : Adaptive Cruise Control
ABS : Anti‐Lock Brake System
Necessary
Mix (necessary
‐ unnecessary)
Scene
coverage
Auto drive in factory
Unnecessary
NHTSA definition
d fi iti Level
L l
1
2
3
Automated
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4
Autonomous
3
Safety
Traffic Accident ： Highway
Rear
Collision
Decrease of recognition / judgment ability after driving for a long time.
Single
Risk avoidance Poor operation in unfamiliar environments or at high‐speeds.
Stop
avoid
Warning
Automated
Driving
FCW
LDW
FCA PCS
LDP
FCW : Forward Collision Warningg
FCA : Forward Collision Avoidance
2013/10/21
PCS : Pre‐Crash System
LDW : Lane Departure Warning
p
g
LDP : Lane Departure Prevention
4
Environment
Traffic Jam ： Highway
Junction
① Vehicle density becomes high. Sag
Tunnel
② Speeds slow down at uphill of sag area. ③ Deceleration wave spreads and amplifies. Min
Loss time
30
25
20
Reduction by half
y
15
10
5
0
0%
3%
5%
10% 30% 50% 70% 100%
ACC vehicle penetration ratio
ACC vehicle penetration ratio 2013/10/21
5
Moving Assist
Harmonized increase of road safety and decrease of driving work load
Most effective
Most effective
For the elderly
100000000
70'～
80000000
60'
60000000
50'
40000000
40'
20000000
30'
～20'
20
0
2002
2012
Driving license
l
numbers
b according to age in
d
JAPAN
2013/10/21
6
Other Effect
Automated vehicle and technologies positively affect our lives. ■ Industrial development by investment in technologies such as onboard devices and infrastructure.
■ Economic development by improving the movement of the Economic development by improving the movement of the
people.
■ Revolution of logistics.
Revolution of logistics
■ Change of the urban planning.
h
f h
b
l
・・・
2013/10/21
7
TOYOTA’s System
Driver in the loop
Driver must drive, watch system and intervene as necessary
Driver is unnecessary
Full self‐driving car
ll lf d i i
Automated
ratio
Platooning on specific road
p
AHDA
LKA
ACC
Auto drive in factory
ABS
Continuous
C
ti
Operation
Necessary
Scene
coverage
Mix (necessary
‐ unnecessary)
Unnecessary
g
y
g
AHDA : Automated Highway Driving Assist
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8
AHDA
2013/10/21
9
LTC : Lane Trace Control
■ Recognize lane markers by
onboard camera and
calculate estimated track
■ Control steering wheel
and vehicle velocity along
calculated track
Lane Detection
2013/10/21
Road‐shape &
Vehicle‐motion
Estimator
FF Controller
FB Controller
Steering
Angle
g
Controller
10
Cooperative - ACC
■ V2V 760MHz ITS exclusive frequency
■ Transmitting acceleration data to mitigate dela of
data to mitigate delay of onboard ranging sensor (e.g., radar)
60
Velo
ocity [km/h]
Velo
ocity [km/h]
60
40
20
0
0
5
10
15
20
25
40
20
0
30
0
5
10
25
20
20
15
15
Gap [m]
Gap [m]
25
10
20
25
30
20
25
30
10
5
5
0
15
time [s]
time [s]
0
0
5
10
15
20
25
30
0
ACC
2013/10/21
5
10
15
time [s]
time [s]
C‐ACC
11
TOYOTA Autonomous Vehicle
Front Camera
360°LIDAR
GPS System
Speed
Sensor
Side Radar
2013/10/21
Side Camera
Front Radar
12
TOYOTA Autonomous Vehicle
2013/10/21
13
Philosophy
Autonomous vehicle technologies enable every driver to drive like expert safety driver. p
y
■ Technologies produced by developing an autonomous vehicle are then realized in various Advanced Driver Assist Systems. y
Mobility
Driver
Circumstance
Recognition
Judgment
Operation
Harmonized
control
Status Sharingg
Vehicle
I f
Information
ti
Infrastructure
Autonomous vehicle technologies
Reconstruction
Detection
Machine
Consistency
2013/10/21
Decision
Autonomous Driving Technologies
14
JAPAN Auto Pilot System
■ For the time being, automated driving is focus area of advanced driver support systems.
driver support systems. Automatic Driving
Driverless
Driver support system
100%
(system)
Syystem Invo
olvement Ratio
0%
(driver)
2013/10/21
* Driver drives , watch systems
③Advanced
②Complex
②
p
①Single
ACC
PCS
LKA
④Full driverless
④Full driverless
Auto Pilot System
（ to aim at for the time being by this study meeting ）
study meeting ）
ACC
+
LKA
T h i lL l
Technical Level
Improvement
15
Image of Auto Pilot System
■ Auto Pilot System works on expressways from enter to exit.
Branch to exit
System stop
Smooth driving at
traffic jam area
Smooth driving at
marge and branch
scene
Drive on main
lane
Branch at
junction
Drive on main
lane
System start
Merge to
expressway
2013/10/21
16
Vehicle Issues
① Continuous driving on a lane
•Vehicle cannot define own •Vehicle cannot drive position at areas with no smoothly at sharp curve or GPS signal (e.g., tunnel)
steep slope , etc.
② Lane change
•Vehicle cannot have enough margin at lane‐changing without forward regulation.
③ Optimal driving at merge, branch , and traffic jam area.
p
g
g ,
,
j
•Vehicle cannot detect other •Vehicle cannot drive vehicles on main lane at merge, optimally for smoothing and cannot get forward traffic the flow at traffic jam condition especially at branch
condition especially at branch.
area
area.
2013/10/21
17
Infrastructure Support
① Continuous driving on a lane
•Provide position •Provide road structure information at tunnel.
data as curvature, slope, , p ,
etc.
② Lane change
•Provide forward traffic regulations data.
③ Optimal driving at merge, branch , and traffic jam area
•Provide other vehicle position on main lane.
•Provide forward traffic condition at branch.
condition at branch.
2013/10/21
•Provide optimal speed, gap, and recommended lane for traffic jam area.
18
In future & Conclusion
■ TOYOTA announced to launch in mid‐2010s Advanced Driving Assist System Using Autonomous Driving Technologies
Assist System Using Autonomous Driving Technologies. ■ TOYOTA’s Advanced Driving Assist System is for safer highway TOYOTA’ Ad
dD i i A i tS t
i f
f hi h
driving, reduced environmental effects and driver workload.
■ TOYOTA is thinking Autonomous driving technologies are to realize Advanced Driver Assist System.
■ TOYOTA is developing various Advanced Driver Assist System using not only Autonomous Driving Technologies but Cooperative systems with various governments.
2013/10/21
19

Autonomous Driving Technologies Autonomous Driving

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